A 3D four-wheel alignment detection method based on homography matrix optimization

A homography matrix and four-wheel alignment technology, which is applied to measurement devices, instruments, optical devices, etc., can solve the problem of insufficient development of 3D four-wheel alignment technology, and achieves the goal of being conducive to solving four-wheel alignment parameters, effectively Accurate data and easy operation

Active Publication Date: 2021-12-21
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0006] Based on the problem that the existing 3D four-wheel alignment technology is not fully developed, the present invention provides a 3D four-wheel alignment detection method based on homography matrix optimization

Method used

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  • A 3D four-wheel alignment detection method based on homography matrix optimization
  • A 3D four-wheel alignment detection method based on homography matrix optimization
  • A 3D four-wheel alignment detection method based on homography matrix optimization

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Embodiment 1

[0029] A 3D four-wheel alignment detection method based on homography matrix optimization in this embodiment, the detection process includes establishing the relationship between coordinate systems, camera calibration, solution of homography matrix and registration optimization, solution of rotation matrix and optimization, the direction cosine solution of the rotating shaft and the solution of the four-wheel alignment parameters, the specific steps are as follows (see figure 1 ):

[0030] Step 1. Establish the relationship between coordinate systems

[0031] The relationship between the various coordinate systems is established firstly from the image physical coordinate system to the image pixel coordinate system, then from the camera coordinate system to the image physical coordinate system, and finally from the world coordinate system to the camera coordinate system to obtain the coordinate system from the world coordinate system To the transformation relationship of the i...

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Abstract

The invention discloses a 3D four-wheel alignment detection method based on homography matrix optimization, and relates to the technical field of vehicle maintenance. The steps of the invention are: establishing the relationship between coordinate systems, and finally obtaining the world coordinate system and image pixel coordinates The relationship between the systems; the calibration of the monocular camera, the relationship between the homography matrix and the internal and external parameters of the camera; the solution and optimization of the homography matrix, and then the internal parameters of the camera are obtained, and then the rotation matrix is ​​obtained and optimized; Calibrate the binocular camera to obtain the relative positional relationship between the two cameras; optimize the internal parameters, external parameters and the relative positional relationship between the two cameras; solve the direction cosine of the optimized rotation matrix to obtain the four-wheel alignment parameters . The invention adopts the method of combining monocular and dual-objective positioning, based on two basic principles of perspective and space vector, optimizes the solution process, and accurately measures each parameter of the wheel alignment system.

Description

technical field [0001] The invention relates to the technical field of vehicle maintenance, and more specifically, to a 3D four-wheel alignment detection method based on homography matrix optimization. Background technique [0002] The four-wheel aligner device is a precision calibrator that can perform complex calculations. It is specially used to detect the four-wheel alignment parameters of the car. By judging the positioning angle, it can find problems, so as to ensure the normal performance of the car. The conventional four-wheel aligner uses traditional electronic sensors in the process of solving the four-wheel alignment parameters, which makes the operation more complicated and slow, and may cause certain damage to the outside world. [0003] The relatively advanced 3D four-wheel aligner has been widely used abroad, but it has not been in China for a long time. The technology is not really understood by the manufacturer and is not stable, so it cannot be obtained in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/275G01B11/00
CPCG01B11/275G01B11/002G01B2210/14G01B2210/12
Inventor 朱志峰汪丹鲍李俊
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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